EP0803436A1 - Dispositif d'évitement de collisions pour véhicules spatiaux sur la manoeuvre rendez-vous - Google Patents

Dispositif d'évitement de collisions pour véhicules spatiaux sur la manoeuvre rendez-vous Download PDF

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Publication number
EP0803436A1
EP0803436A1 EP97106540A EP97106540A EP0803436A1 EP 0803436 A1 EP0803436 A1 EP 0803436A1 EP 97106540 A EP97106540 A EP 97106540A EP 97106540 A EP97106540 A EP 97106540A EP 0803436 A1 EP0803436 A1 EP 0803436A1
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EP
European Patent Office
Prior art keywords
thrusters
collision avoidance
axis
translational thrust
thrust
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP97106540A
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German (de)
English (en)
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EP0803436B1 (fr
Inventor
Taichi Nakamura
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Publication date
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Publication of EP0803436A1 publication Critical patent/EP0803436A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/26—Guiding or controlling apparatus, e.g. for attitude control using jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
    • B64G1/646—Docking or rendezvous systems

Definitions

  • Numeral 6 represents an abnormality determining circuit.
  • Numeral 7 represents an avoidance operation command circuit.
  • Numeral 16 represents a circuit (hereinafter referred to as a thruster driver for redundant use) for driving a group of spare thrusters (hereinafter referred to as a group of thrusters for redundant use) which have functions equivalent to those of the group of thrusters for ordinary use.
  • Numeral 17 represents the group of thrusters for redundant use whose constitution is same as that of the group of thrusters for ordinary use.
  • the abnormality determining circuit 6 selects a signal which the guidance and control device 2 has designated from among monitor signals concerning the flight conditions, such as a relative position, a posture, and acceleration, outputted by the sensor 1. The abnormality determining circuit 6 then compares the signal or a value computed from the signal with a reference value which has been previously set in the abnormality determining circuit 6, thereby performing a repetitive judgement on the presence of abnormality, such as a mechanical failure, an excess of posture error, and a deviation from a predetermined orbit. When any abnormality is found, the avoidance operation command circuit 7 is notified of the incident.
  • the rendezvous spacecraft is usually equipped with at least a group of thrusters for redundant use 17 by way of precaution against a failure of the group of thrusters for ordinary use 4.
  • An example of the arrangement of the groups of thrusters is shown in Fig. 7.
  • the constitution of a group of thrusters for rendezvous is such that a mass of thrusters are arranged in a complicated manner.
  • a solid line arrow represents one of these thrusters for avoidance
  • a dashed line arrow represents one of these thrusters for redundant use.
  • Each of these arrows shows a direction of the injection.
  • a collision avoidance operation is carried out by rendering at least one of the aforementioned plural thrusters for collision avoidance inactive. Consequently, this leads to an appropriate and easily controllable avoidance operation.
  • the aforementioned plural thrusters for collision avoidance consist of at least four thrusterunits. These four thrusters contain a component of translational thrust in their respective outputs. Also, these four thrusters generate posture control torque around those two axes which are orthogonal to the translational thrust axis, and control relative outputs of the plural thrusters for collision avoid ance, whereby a collision avoidance operation is executed.
  • the plural thrusters for collision avoidance mentioned above include four pieces of thrusters in the following manner: these four thrusters are arranged on two axes which are orthogonal to the translational thrust axis and also meet each other at right angles at the origin, namely, a certain point of the translational thrust axis; these thrusters are paired and each pair faces each other with the origin as the center; and each of these thrusters outputs thrust in a direction which is parallel to the translational thrust axis.
  • the plural thrusters for collision avoidance mentioned above include at least two thrusterunits for translation and at least two thrusterunits for posture control.
  • the former are capable of outputting a component of translational thrust and at the same time generating posture control torque around the first axis which is orthogonal to the translational thrust axis.
  • the latter independently carry out posture control around the second axis which is orthogonal to both the aforementioned translational thrust axis and the aforementioned first axis.
  • the plural thrusters for collision avoidance mentioned above include at least one thruster for translation which outputs a component of translational thrust and at least four thrusters for posture control which independently carry out posture control around two axes being orthogonal to the translational thrust axis.
  • the aforementioned single thruster for translation includes a thruster which is provided on the translational thrust axis and outputs translational thrust
  • the aforementioned four thrusters for posture control include a pair of thrusters and another pair of thrusters: the first pair of thrusters are arranged on one of these two axes, which are orthogonal to each other with the translational thrust axis as the origin, in such a manner that these two thrusters face each other with the origin between and output thrust in an opposite direction, respectively; and the second pair of thrusters are arranged on the other one of these two axes, which are orthogonal to each other, in such a manner that these two thrusters face each other with the origin between and output thrust in an opposite direction, respectively.
  • Fig. 5 is a block diagram showing a conventional device.
  • the abnormal ity determining circuit 6 selects a signal designated by the guidance and control device 2 from among monitor signals outputted by the sensor 1 concerning flight conditions, such as a relative position, a posture, and acceleration, and compares the signal or a value calculated from the signal with a reference value previously set in the abnormality determining circuit 6. In such a manner, a repetitive judgement on the presence of abnormality, such as a mechanical failure, an excess of posture error, and a deviation from a predetermined orbit is carried out.
  • the avoidance operation command circuit 7 When any abnormality is found, the avoidance operation command circuit 7 is notified of the incident. The avoidance operation command circuit 7 then determines how to cope with the situation based on the contents of the incident notified and a criterion showing a risk of collision, such as an estimated amount of time the spacecraft reaches the target, which is provided by the guidance and control device 2. An outcome of the judgement is transmitted to the guidance and control device 2 as a command to perform the collision avoidance.
  • the injection for collision avoidance and the generation of posture control torque around these two coordinate axes which are orthogonal to the translational thrust axis are carried out by using four pieces of thrusters for avoidance.
  • Constitution of an embodiment 2 of the present invention is same as that of the embodiment 1.
  • Fx Ty Tz F1 0 F3 0 -r1F1 0 r3F3 0 0 r2F2 0 -r4F4 a1 a2 a3 a4
  • a definition of the coordinate axes and an arrangement of thrusters shall be based on Fig. 3.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP97106540A 1996-04-22 1997-04-21 Dispositif d'évitement de collisions pour véhicules spatiaux sur la manoeuvre rendez-vous Expired - Lifetime EP0803436B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP10055796 1996-04-22
JP10055796A JP3867315B2 (ja) 1996-04-22 1996-04-22 自動衝突回避装置
JP100557/96 1996-04-22

Publications (2)

Publication Number Publication Date
EP0803436A1 true EP0803436A1 (fr) 1997-10-29
EP0803436B1 EP0803436B1 (fr) 2001-07-18

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP97106540A Expired - Lifetime EP0803436B1 (fr) 1996-04-22 1997-04-21 Dispositif d'évitement de collisions pour véhicules spatiaux sur la manoeuvre rendez-vous

Country Status (4)

Country Link
US (1) US5868358A (fr)
EP (1) EP0803436B1 (fr)
JP (1) JP3867315B2 (fr)
DE (1) DE69705665T2 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106707751A (zh) * 2016-12-20 2017-05-24 哈尔滨工业大学 航天器终端接近的有限时间饱和避碰控制方法
CN109696917A (zh) * 2019-01-28 2019-04-30 中国人民解放军军事科学院国防科技创新研究院 一种航天器自动交会避障方法及系统
WO2022004044A1 (fr) * 2020-06-28 2022-01-06 Mitsubishi Electric Corporation Rendez-vous de véhicule à abandon sécurisé en cas de défaillance de commande partielle
WO2022004040A1 (fr) * 2020-06-28 2022-01-06 Mitsubishi Electric Corporation Rendez-vous de véhicule a sûreté intégré en cas de défaillance de commande totale

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AU2019700A (en) * 1998-06-02 2000-03-27 Galaxy Development, Llc. Fast resonance shifting as a way to reduce propellant for space mission applications
US20040254728A1 (en) * 2002-10-25 2004-12-16 Poropat George Vladimir Collision warning system and method
US6945500B2 (en) * 2003-08-15 2005-09-20 Skycorp, Inc. Apparatus for a geosynchronous life extension spacecraft
FR2897841B1 (fr) * 2006-02-27 2009-02-27 Univ Paris Curie Engin spatial et procede pour faire fonctionner l'engin spatial.
DE602006012860D1 (de) * 2006-12-22 2010-04-22 Saab Ab Vorrichtung an einem Flugkörper und Verfahren zur Kollisionsvermeidung
US8833702B2 (en) * 2012-05-07 2014-09-16 Robert Briskman Autonomous satellite orbital debris avoidance system and method
US20150001344A1 (en) * 2013-06-26 2015-01-01 Raytheon Company Satellite positioning system
US9963249B2 (en) * 2015-06-29 2018-05-08 The Boeing Company Efficient stationkeeping design for mixed fuel systems in response to a failure of an electric thruster
FR3076817B1 (fr) * 2018-01-16 2020-02-14 Arianegroup Sas Procede d'ejection d'une charge utile depuis un vehicule spatial anime d'une force de propulsion continue
CN112000132A (zh) * 2020-07-08 2020-11-27 中国人民解放军军事科学院国防科技创新研究院 基于椭球体描述的航天器避障控制方法

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US5109345A (en) * 1990-02-20 1992-04-28 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Closed-loop autonomous docking system

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WO1987002797A1 (fr) * 1985-10-31 1987-05-07 Energy Optics, Inc. SYSTEME OPTO-ELECTRONIQUE INTELLIGENT D'ARRIMAGE PAR NAVIGATION A l'ESTIME
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106707751A (zh) * 2016-12-20 2017-05-24 哈尔滨工业大学 航天器终端接近的有限时间饱和避碰控制方法
CN109696917A (zh) * 2019-01-28 2019-04-30 中国人民解放军军事科学院国防科技创新研究院 一种航天器自动交会避障方法及系统
WO2022004044A1 (fr) * 2020-06-28 2022-01-06 Mitsubishi Electric Corporation Rendez-vous de véhicule à abandon sécurisé en cas de défaillance de commande partielle
WO2022004040A1 (fr) * 2020-06-28 2022-01-06 Mitsubishi Electric Corporation Rendez-vous de véhicule a sûreté intégré en cas de défaillance de commande totale

Also Published As

Publication number Publication date
US5868358A (en) 1999-02-09
DE69705665D1 (de) 2001-08-23
JPH09286400A (ja) 1997-11-04
DE69705665T2 (de) 2002-05-23
EP0803436B1 (fr) 2001-07-18
JP3867315B2 (ja) 2007-01-10

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